energies

Article
Analysis and Mitigation of Sub-Synchronous
Resonance for Doubly Fed Induction Generator
under VSG Control
Yingzong Jiao 1 , Feng Li 2 , Hui Dai 2 and Heng Nian 1, *
1 College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; jyzzju@zju.edu.cn
2 State Grid Huaian Power Supply Company, Huaian 223002, China; lifeng.ha@js.sgcc.com.cn (F.L.);
daihui.ha@js.sgcc.com.cn (H.D.)
* Correspondence: nianheng@zju.edu.cn




Received: 2 March 2020; Accepted: 24 March 2020; Published: 1 April 2020


Abstract: This paper presents the analysis and mitigation of sub-synchronous resonance (SSR) for
doubly fed induction generators (DFIG) under virtual synchronous generator (VSG) control, based on
impedance methods. VSGs are considered to have grid-supporting ability and good stability in
inductance-based weak grids, and are implemented in renewable power generations, including DFIG
systems. However, stability analyses of VSGs for DFIG connecting with series capacitor compensation
are absent. Therefore, this paper focuses on the analysis and mitigation of SSR for DFIG under
VSG control. Impedance modeling of DFIG systems is used to analyze SSR stability. Based on
impedance analysis, the influence of VSG control parameters and the configuration of damping factor
of reactive power are discussed. Next, a parameter configuration method to mitigate SSR is proposed.
Finally, time-domain simulation and fast fourier transform (FFT) results are given to validate the
correctness and effectiveness of the impedance model and parameter configuration methods.

Keywords: virtual synchronous generator; doubly fed induction generator; sub-synchronous

resonance; impedance modeling

1. Introduction
Recently, renewable power generation has developed rapidly. Wind power generation systems
(WPGS) based on doubly fed induction generator (DFIG), which has the advantages of relatively low
cost and variable speed constant frequency operation, have been widely installed worldwide [1,2].
With the penetration of WPGS in power grids increasing continuously, conventional power sources
like synchronous generators (SG) are decreasing; frequency stability and lack of inertia are becoming
main concerns in power grids [3]. It is necessary to enhance the ability of WPGS to support power
systems like conventional SGs. Based on this consideration, the virtual synchronous generator (VSG)
control is proposed [4,5].
VSG is a grid-friendly control strategy which emulates the operating principle of SGs. VSG is
first introduced to stabilize the grid frequency by adding virtual rotational inertia to distributed
generation systems in [4]. The concepts of “Self-Synchronized Synchronverters” is proposed in [5],
in which phase-locked loop can be neglected. The method to stabilize the power system based
on VSG control with alternating moment of inertia is introduced in [6]. The comparison of VSG
control and droop control are given in [7,8]. According to [8], VSG control inherits the advantages of
droop control and provides inertia support for the system. In [9], “virtual synchronized control” for
DFIG is presented to increase the inertia support capability and frequency stability of the weak grid.
Furthermore, VSG control shows the superior small signal stability better than conventional vector
control when a DFIG is connected to a weak grid [10,11].

Energies 2020, 13, 1582; doi:10.3390/en13071582 www.mdpi.com/journal/energies

Energies 2020, 13, 1582 2 of 17

Wind farms are usually located far away from load center. And wind farms are connected
to weak grids through long transmission lines with high impedance. Therefore, series capacitor
compensation is usually used to increase power transmission capability among AC lines [12].
However, series capacitors in transmission lines, which connects weak grid with DFIG based
wind farms, may cause sub-synchronous resonance (SSR). In recent years, several accidents in DFIG
based wind farm caused by SSR have been reported worldwide [13,14].
Currently, the studies of modeling, analyzing and mitigating control strategy for DFIG-based
wind farms interconnected with series compensation have been reported in [14–20]. Based on modal
analysis, the impacts of series compensation level, wind speed and current loop gains on SSR are
studied in [15,16]. According to [15], the higher compensation level, the lower wind speed and the
larger control loop gains, the more possible SSR occurs. As for mitigation strategies of SSR, there are two
main methods: (1) auxiliary damping hardware. FACTS devices, such as static var compensator (SVC),
thyristor-controlled series capacitor (TCSC) and gated-controlled series capacitors (GCSC), can be used
to mitigate SSR [17,18]; (2) damping control strategies. Sub-synchronous resonance damping control is
implemented in grid-side converters (GSC) [19] and control performance of different control signals,
including rotor speed, capacitor voltage and current magnitude, is analyzed. Intelligent algorithms can
be also adopted in suppressing SSR, such as the improved particle swarm optimization algorithm [20].
The works mentioned above focus on the SSR of DFIG under conventional vector control.
However, the stability analysis of VSG control in DFIG interconnected with series compensation
is absent. Furthermore, VSG control is quite different with vector control, especially in
power-synchronization and voltage control loop. Therefore, the stability of DFIG under VSG control in
series compensation network should be analyzed in detail.
Impedance modeling is an effective stability analysis method [21,22], which has been used in
studying SSR [23,24]. The impedance modeling of VSG control has been implemented in [25], in which
VSG control shows the better stability than the vector control in ultraweak inductance-based grid.
However, the reactive power and voltage control loops are neglected during VSG modeling, which are
very important in VSG control and SSR analysis. Therefore, the impedance model of VSG control for
DFIG including voltage control loop should be developed.
The major contributions of this paper can be concluded as: (1) building the detailed impedance
model of DFIG under VSG control including DFIG model, swing equation, voltage-reactive power
control, frame transformation and rotor voltage calculation; (2) analyzing the influence of VSG control
for DFIG on SSR stability and configuring the VSG control parameter based on impedance analysis.
The rest of this paper is organized as follows. In Section 2, VSG control for DFIG is introduced
briefly. In Section 3, the impedance modeling of DFIG under VSG control is illustrated. In Section 4,
the impedance model is verified and the SSR analysis is also discussed, followed by the influence of
VSG control parameters and configuration method are investigated. In Section 5, simulation studies
are implemented to verify the correctness and effectiveness of the impedance model and configuration
method. Finally, the conclusion is drawn in Section 6.

2. VSG Control for DFIG

In this section, the VSG control for DFIG is introduced. Different with voltage source converters
(VSC), the stator of DFIG is connected to the grid directly and outputs the most part of power.
Thus, in order to introduce the VSG control for DFIG, the equivalent circuit of DFIG is given in
Figure 1. It should be noted that the control target of grid-side converters (GSC) is to keep the constant
DC voltage on the DC bus. Therefore, GSC still works in the conventional current vector control [2].
Moreover, GSC has little influence on SSR stability, therefore the analysis of GSC will be neglected in
the following [19,23,24].
 Energies 2020, 13, 1582 3 of 17
Energies 2020, 13, x FOR PEER REVIEW 3 of 17

Rs Lsσ Lrσ Rr

Is Ir
Us s Lm r Ur
   

j s js r

Figure
Figure1.1.Equivalent
Equivalentcircuit
circuitofofthe
thedoubly
doublyfed
fedinduction
inductiongenerator
generator(DFIG)
(DFIG)model.
model.

Accordingto
According toFigure
Figure1,1, the
the voltage
voltageand andfluxflux equations
equationsofof DFIG
DFIGin
in synchronous
synchronousrotating
rotatingframe
frame
(SRF)can
(SRF) canbe
beexpressed
expressed as:
as:
Usdq = Rs Isdq + dψsdq /dt + jωψsdq (1)
U sdq  Rs I sdq  d sdq dt + j sdq (1)
Urdq = Rr Irdq + dψrdq /dt + jωs ψrdq (2)
U rdq  RrψIsdq =d
rdq  Isdqdt++LjmIs
Lsrdq rdqrdq (2)
(3)

ψ =L I + L Irdq (4)
 sdqrdq
 Ls I sdqmsdq
Lm I rdq r (3)
ψmdq = Lm Isdq + Lm Irdq (5)

where Isdq and Irdq are the stator and rotor  rdq current
Lm I sdq respectively,
Lr I rdq (4)
U sdq and U rdq are the stator and rotor
voltage respectively, ψsdq , ψrdq and ψmdq are the stator, rotor and air-gap flux respectively, Lm , Ls and
Lr are the mutual, stator and rotor inductance,  mdq  Lm I sdq
in which
Lm I rdq Ls = Lm + Lsσ , Lr = Lm + Lrσ , Lsσ and Lrσ (5)
are
the stator and rotor self-inductance respectively, ω is the SRF angular frequency, ωs is the slip angular
where Isdq and Irdqω are
ωs = − ωthe stator and rotor current respectively, Usdq and Urdq are the stator and rotor
frequency, r , ωr is the rotor angular frequency. All variables are referenced to the stator.
voltage respectively, ψ sdq, ψrdq and ψmdq are the stator, rotor and air-gap flux respectively, Lm, Ls and Lr
Under steady-state conditions, neglecting differential terms of stator flux ψsdq in (1), the stator
are
voltagemutual,
the stator
model can be and rotor inductance,
represented as: in which Ls = Lm + Lsσ, Lr = Lm + Lrσ, Lsσ and Lrσ are the stator
and rotor self-inductance respectively, ω is the SRF angular frequency, ωs is the slip angular frequency,
ωs = ω − ωr, ωr is the rotor angular EDFIGfrequency.
= jωψmdqAll =U variables are referenced to the stator.
sdq + Isdq (Rs + jω1 Lsσ ) (6)
Under steady-state conditions, neglecting differential terms of stator flux ψsdq in (1), the stator
voltageSimilar
model with
canthe steady statoras:
be represented circuit equation of SG in [26], the term jωψmdq in (6) can be defined
as the internal voltage EDFIG of DFIG. In this way, the VSG control for DFIG can emulate a conventional
E =j mdq =Usdq  I sdq ( Rs + j1Ls ) (6)
SG by controlling the phase andDFIG magnitude of ψm .
The phase
Similar withandthemagnitude
steady stator of can be controlled
circuit equation ofby SGactive power
in [26], and reactive
the term jωψmdq inpower,
(6) canrespectively.
be defined
Thethe
as phase and frequency
internal voltage Ereference of ψ can be calculated by the rotor swing equation [5–11,27]:
DFIG of DFIG.m In this way, the VSG control for DFIG can emulate a

conventional SG by controlling the phase Z and magnitude of ψm.

1
The phase and magnitudeωof=can be controlled (P∗s − Ps + D ω0 − ωpower
byP (active )) dt +and ω0 reactive power, respectively. (7)
JP
The phase and frequency reference of ψm can be calculated by the rotor swing equation [5–11,27]:
Z
( Ps*θ=Ps  DωP (dt
1 (8)
JP 
 0   )) dt  0 (7)
where, Ps is the stator active power, P∗s is stator active power reference, which can be calculated by the
methods of the maximum power point tracking     (MPPT)
dt or de-loading control, ω0 is rated angular
(8)
frequency, JP and DP are the inertia and damping coefficients of active power respectively, θ is the
*
where, Ps is the stator
phase reference active
of EDFIG , which power,
is used Ps inis the
stator active
frame power reference,
transformation. In thiswhich canphase-locked-loop
way, the be calculated by
(PLL)
the can beof
methods canceled.
the maximum power point tracking (MPPT) or de-loading control, ω0 is rated angular
frequency, JP and DP are
The magnitude the inertia
reference and damping
of internal voltage can coefficients of active
be calculated power
by the respectively,
feedback θ is
control of the
stator
phase
voltagereference
and statorof reactive
EDFIG, which is used
power. in the frame
The reference transformation.
of reactive power canInbethis setway, the
by the phase-locked-
grid operators or
loop
given(PLL)
by thecan be canceled.
voltage-drooping, which can be written as:
The magnitude reference  of internal
 Zvoltage can be calculated by the feedback control of stator
voltage and stator reactive power. 1
∗The reference
(Qs − Qs + DQ (U0 −U)) +be
∗ of reactive power can U0set by the grid operators or
  
EDFIG  = (9)
given by the voltage-drooping, which can JQ be written as:
Energies 2020, 13, x FOR PEER REVIEW 4 of 17

1
JQ 
Energies 2020, 13, 1582 |E DFIG |*  (Qs*  Qs  DQ (U 0  | U |))  U 0 4 of 17
(9)

*
where,
where, QQss and
and Q are the
Qs∗s are the stator
stator reactive
reactive power
power and
and its
its reference,
reference,JJQQ are
are D
DQQ are
are the
the inertia
inertia and
and damping
damping
coefficient ofreactive
coefficient of reactivepower
powercontrol
control loop
loop respectively,
respectively, U0 U is the
is0the rated
rated value
value of grid
of grid voltage,
voltage, |U| is |U|
equalsis
equals to the magnitude
to the magnitude of U sdq . of U sdq.
VSG
VSG control
control for
for DFIG
DFIG works
works in in the
the virtual
virtual synchronous
synchronous rotating
rotating frame
frame (VSRF),
(VSRF), in
in which
which d-axis
d-axis
is aligned to
is aligned to E
EDFIG
DFIG. . And
Andflux
fluxfeedback
feedbackcontrol
controlisisimplemented
implementedin incontrol
control scheme
scheme to to track
track the
the flux
flux
reference, which can be expressed
reference, which can be expressed as: as:

Ed* ∗ | DFIG
 |* E*  0 (10)
Ed =EDFIG ∗ q E∗q = 0 (10)
*
 (kP  kI  )( EDFIG   mdq )
Z *
Urdq (11)
Urdq = (kP + kI )(E∗DFIG − ωψmdq )
∗
(11)
*
where, Urdq is the output of VSG control loop, kP and kI are the proportional and integral coefficients
∗ is the output of VSG control loop, k and k are the proportional and integral coefficients of
of ωψmdqUfeedback
where, rdq controller and ωψmdq can be Pcalculated
I based on (5), respectively.
ωψmdq feedback controller and ωψ mdq diagram of VSGbased
Based on (7)–(11), the control block can be calculated on (5),
for DFIG respectively.
is presented in Figure 2. The active
Based on (7)–(11), the control block diagram of VSG for DFIG is
and reactive power can be controlled by the phase and magnitude of internalpresented in Figurevoltage
2. The active
EDFIG,
and reactive power
respectively. can beand
The inertia controlled
dampingby the phase and magnitude
characteristics of internal
can also be voltageby
implemented EDFIG
the ,rotor
respectively.
swing
The inertia
equation in and damping
the VSG characteristics
control of DFIG. can also be implemented by the rotor swing equation in the
VSG control of DFIG.

 *
E DFIG
Vdc
I sdq  mdq  mdq U rdq
(5) kP  kI  e j s SVM
I rdq -
I rdq abc
DP ω0 e j s
αβ
- 1 - θ
Ps
JP  
θ DFIG
P * θs
s

1 Ed* ωr -
Qs -
JQ  *
d/dt
θr
E DFIG
DQ U* |U |
U sdq
Qs* abc
- E 0*
I sdq e j
|U | q
αβ
VSG

Figure 2.
Figure Control block
2. Control block diagram
diagram of
of virtual
virtual synchronous
synchronous generator
generator (VSG)
(VSG) for
for DFIG.
DFIG.

3. Impedance Modeling of VSG Control for DFIG

3. Impedance Modeling of VSG Control for DFIG
In this section, the impedance modeling of VSG control for DFIG is presented. For clarity,
In this section, the impedance modeling of VSG control for DFIG is presented. For clarity, bold
bold letters are used in this paper to denote complex space vectors, e.g., X = Xd + jXq; bold letters also
letters are used in this paper to denote complex space vectors, e.g., X = Xd + jXq; bold letters also
denote complex transfer functions or transfer matrix, e.g., X(s) = Xd(s) + jXq(s). Impedance modeling is
denote complex transfer functions or transfer matrix, e.g., X(s) = Xd(s) + jXq(s). Impedance modeling
based on the small signal analysis [21,22], therefore, the state variables with a small-signal perturbation
is based on the small signal analysis [21,22], therefore, the state variables with a small-signal
can be written as:
perturbation can be written as:
x = X0 + ∆x (12)
x  X 0  x (12)
where x is the state variable, X0 is the steady-state value, ∆x is the small-signal perturbation, x can
denotexvoltages,
where currents
is the state and X
variable, other state
0 is the variables invalue,
steady-state VSG control of small-signal
Δx is the DFIG. perturbation, x can
denote voltages, currents and other state variables in VSG control of DFIG.
3.1. Modeling of DFIG
3.1. Modeling of DFIG
Submitting (3) and (4) into (1) and (2) and taking the Laplace transformation of (1) and (2),
the small signal model of DFIG can be expressed as:

∆Usdq = G1 (s)∆Isdq + G2 (s)∆Irdq (13)

Energies 2020, 13, 1582 5 of 17

∆Urdq = G3 (s)∆Isdq + G4 (s)∆Irdq (14)

In the impedance model, the stator voltage and rotor voltage are the inputs of the model; the stator
current is the output. Thus, the small-signal model of DFIG can rewritten as:

∆Isdq = Gus_is (s)∆Usdq + Gir_is (s)∆Irdq (15)

∆Irdq = Gus_ir (s)∆Usdq + Gur_ir (s)∆Urdq (16)

Figure 3 illustrates the block diagram of transfer matrices of DFIG in the synchronous dq-frame.
As can be seen from Figure 3, the stator current depends on the stator voltage and rotor voltage.
The transfer functions in (13)–(16) are expressed as:

Energies 2020, 13, x FOR PEER REVIEW 5 of 17

" #
Rs + sLs −ωLs
G1 ( s ) = (17)
ωLs Rs + sLs
Submitting (3) and (4) into (1) and (2) and taking the Laplace transformation of (1) and (2), the
small signal model of DFIG can be expressed as: "
sLm −ωLm
#
G2 ( s ) = (18)
U sdq  G1 ( s)IωL sdq  G2 ( s ) I rdq
m sLm (13)
" #
sLm −ωs Lm
G3(sG
U rdq )= ( s )  I  G4 ( ssL )mI rdq (19)
3 ωsdq
s Lm (14)
" #
In the impedance model, the stator voltage Rr +and sLr rotor −ωsvoltage
Lr are the inputs of the model; the
G4 ( s ) = (20)
stator current is the output. Thus, the small-signal ωs Lrmodel Rr of + DFIG
sLr can rewritten as:

G  G=us G
_ is1( s ) U sdq  Gir _ is ( s ) I rdq
−1



 I sdq
us_is (15)
 −1
G = −G G

 ir_is 2

1

(21)
  s)3UGsdq−1 GG2 ur+_ irG( 4s)UGrdq3 G−1
−1
 rdqus_ir us _ ir (−G
I G



 G = − 1 1 (16)
 Gur_ir = ( − G3 G−1 G2 + G4 )−1


Figure 3 illustrates the block diagram of transfer 1 matrices of DFIG in the synchronous dq-frame.
where
As canthe
be superscript −1 means
seen from Figure 3, thethe inverse
stator current matrix and the
depends the statorus_is
onsubscript means
voltage andthe transfer
rotor matrix
voltage. The
from stator
transfer voltageinto(13)–(16)
functions stator current, the meanings
are expressed as: of other subscripts are similar to this.

U sdq
Gus _ is

Gus _ ir DFIG
Model
U rdq I rdq I sdq
Gur _ ir  Gir _ is 

Figure 3.
Figure 3. The
The model
model of
of DFIG
DFIG in
in synchronous
synchronous dq-frame.
dq-frame.

3.2. Modeling of Power and Voltage Amplitude

 Rs  sLs  Ls 
G1 ( s ) and
In synchronous dq-frame, the power  voltage amplitude can be calculated as: (17)
 L s R s  sLs 
(
Ps = −1.5(usd isd + usq isq )
 sLm  Lm  (22)
) −1.5
GQ2 (ss=  L(usd isq − usq isd )
sLm 
(18)
  q m

2 u2
U=sL usd+ (23)
 
s Lsqm
G3 ( s )   m

sLm 
(19)
s Lm

 R  sLr s Lr 
G4 ( s )   r
Rr  sLr 
(20)
 s Lr

Gus _ is =G11
 1
Energies 2020, 13, 1582 6 of 17

By linearizing the (22) and (23), the small-signal-model can be expressed as:


 Gi_P Gu_P

 z }| { z }| {


∆P ∆i ∆usd
 " # " # " #

 s 3 −usd0 −u sq0 sd 3 −i sd0 −i sq0
= [ ] + [ ]


∆isq ∆usq


 0 2 0 0 2 0 0
(24)



 Gi_Q Gu_Q

 z }| { z }| {


∆Q ∆i ∆usd
 " # " # " #
3 −u u i
3 sq0 −i

s sq0 sd0 sd sd0


 = [ ] + [ ]
∆isq ∆usq

0 2 0 0 2 0 0



GU
z }| {
∆|U| ∆usd
" # " #
1 usd0 usq0
= [ ] (25)
0 U0 0 0 ∆usq

3.3. Modeling of VSG Control

The VSG control of DFIG consists two power control loops. The phase and amplitude of internal
voltage of DFIG are controlled by active and reactive power loops, respectively. According to (7)–(9),
the small signal model of power loops can be written as:

1 1 −1
∆θ = ∆ω = ∆Ps (26)
s s JP s + DP
   
∗ −1
∆EDFIG  = ∆Qs − DQ ∆U
  
(27)
  JQ s  
By submitting (24) and (25) into (26) and (27), the model can be expressed as:

∆θ ∆P ∆isd ∆usd
" # " # " # " #
= GP_θ = GP_θ Gi_P + GP_θ Gu_P (28)
0 0 ∆isq ∆usq

∆E∗d ∆Qs ∆|U|

" # # " " #
= GQ_E + GU_E
0 0 0
(29)
∆isd ∆usd ∆usd
" # " # " #
= GQ_E Gi_Q + GQ_E Gu_Q + GU_E GU
∆isq ∆usq ∆usq
The transfer functions in (28) and (29) are expressed as:
" 1 −1 #
s JP s+DP 0
GP_θ = (30)
0 0
 −1 
 J s 0 
GQ_E =  Q  (31)
0 0 
" #
−DQ 0
GU_E = (32)
0 0
Based on the (28)–(32), the small signal model of VSG control can be obtained.

3.4. Modeling of Frame Transformation

Since the calculation of rotor voltage are applied in virtual synchronous reference frame (VSRF),
the park transformation and inverse park transformation are used in VSG control (green and yellow
blocks in Figure 2, respectively). The small-signal perturbation in the angular reference (28) affects
the VSG control for DFIG the through the frame transformation. Therefore, the frame transformation
Energies 2020, 13, 1582 7 of 17

should be involved in impedance modeling. It should be noted that the frame transformation does not
affect the modeling of DFIG, power calculation and power control loops.
The park transformation (green blocks in Figure 2) of stator and rotor currents can be expressed as:

Ivdq = Iαβ e− jθ = (Idq0 + ∆Isdq )e−j∆θ

≈ (Idq0 + ∆Isdq )(1 − j∆θ) (33)

⇒ ∆Ivdq = ∆Isdq − jIdq0 ∆θ

where the superscript v means the VSRF and the superscript s means the synchronous dq-frame.
The inverse park transformation (yellow block in Figure 2) of rotor voltage can be expressed as:

Usrαβ = Uvrdq e j(θs +∆θ) = (Urdq0 + ∆Uvrdq )e j∆θs

≈ (Urdq0 + ∆Uvrdq )(1 + j∆θ) (34)

⇒ ∆Usrdq = ∆Uvrdq + jUrdq0 ∆θ

3.5. Modeling of Rotor Voltage

Based on the (5) and (11), the small signal model of rotor voltage can be obtained:
 
∆Uvrdq = GPI ∆EDFIG ∗ + GPI_i (∆Ivsdq + ∆Ivrdq ) (35)

By submitting (33) and (34) into (35), the rotor voltage in synchronous dq-frame can be expressed as:
 ∗
∆θ
" #
∆Usrdq + GPI ∆EDFIG 
 
= Gurdq0
0
 
(36)
∆θ ∆θ
" # " #
+GPI_i (∆Isdq + Gisdq0
s
) + GPI_i (∆Irdq + Girdq0
s
)
0 0

The transfer matrixes in (36) are expressed as:

" # " # " #
−urq0 0 isq0 0 irq0 0
Gurdq0 = Gisdq0 = Girdq0 = (37)
urd0 0 −isd0 0 −ird0 0

1 kP s + kI
 
 2 s 0 
GPI =  1 kP s + kI
GPI_i = −ω0 Lm GPI (38)
0 2 s


Based on the (22)–(36), the block diagram of transfer matrixes of VSG control in synchronous
dq-frame is presented
Energies 2020, 13, x in
FORFigure 4.
PEER REVIEW 8 of 17

Power VSG Frame Transformation

Calculation Control
GPI _ iGisdq 0
 isds  Gi _ P   Ps     
 s   GP _   0  Gurdq 0 
 isq  Gu _ P   0   
GPI _ iGirdq 0
Feedback   urds 
 usds  Gi _ Q   Qs  
  s 
 s    GQ _ E Control  urq 
 usq  Gu _ Q   0    Ed* 
  GPI
 |U |   0 
GU  0  GU _ E
   irds 
 s  GPI _ i 

 irq 
GPI _ i

Figure 4. Block diagram of small signal transfer matrices for VSG control in synchronous dq-frame.
Figure 4. Block diagram of small signal transfer matrices for VSG control in synchronous dq-frame.
In Figure 4, the currents and stator voltage are the inputs of the VSG and the rotor voltage is the
output. Thus, the model can be expressed as:

Urdq
s
 Gus _ ur U sdq
s
 Gis _ ur I sdq
s
+ Gir _ ur I rdq
s
(39)

Gus _ ur  (Gurdq 0  GPI _ i (Gisdq 0  Girdq 0 ))GP _  Gu _ P

  0   ird 
 s GPI _ i 

 irq 
GPI _ i

Figure 4. Block diagram of small signal transfer matrices for VSG control in synchronous dq-frame.
Energies 2020, 13, 1582 8 of 17
In Figure 4, the currents and stator voltage are the inputs of the VSG and the rotor voltage is the
output. Thus, the model can be expressed as:
In Figure 4, the currents and stator voltage are the inputs of the VSG and the rotor voltage is the
output. Thus, the model canU  Gus _ ur Uas:
sdq  Gis _ ur I sdq + Gir _ ur I rdq
s s s s
berdqexpressed (39)

s
∆U = Gus_ur ∆Us (+ Gis_ur ∆Is ))+ Gir_ur ∆Is (39)
ur  (Gurdq 0  GPIsdq
Gus _rdq _ i Gisdq 0  Girdqsdq
0 GP _  Gu _ P rdq
  GPI GQ _ E Gu _ Q  GPI GU _ E GU
 us_ur =


G (Gurdq0 + GPI_i (Gisdq0 + Girdq0 ))GP_θ Gu_P
 (Gurdq  G _ i (Gisdq 0  Girdq 0 ))GP _  Gi _ P

Gis _ ur + (40)


GPI G0Q_E GPIu_Q + GPI GU_E GU



 G(G Q  G(PI


PI GQ _ E G

 is_ur
G = + i _G
PI_i Gisdq0 + Girdq0 ))GP_θ Gi_P (40)
 _i
 urdq0
Gir _ ur +G




 GPIPIG_ i Q_E Gi_Q + GPI_i


 Gir_ur = GPI_i
3.6. Sequence Impedance of VSG Control for DFIG
3.6. Sequence Impedance of VSG Control for DFIG
The small signal models of DFIG and VSG control have been obtained in Figure 3 and Figure 4,
The small signal models of DFIG and VSG control have been obtained in Figures 3 and 4,
respectively. The detailed model of VSG control for DFIG based on transfer matrices can be presented
respectively. The detailed model of VSG control for DFIG based on transfer matrices can be presented
as Figure 5, in which “△” is omitted for simplicity.
as Figure 5, in which “4” is omitted for simplicity.

U sdq
Gus _ ur Gus _ is

Gus _ ir DFIG
Model
U rdq I rdq I sdq

 Gur _ ir  Gir _ is 

Gir _ ur VSG
Gis _ ur

Figure 5. The whole block diagram of transfer matrices of DFIG with VSG control in synchronous
Figure 5. The whole block diagram of transfer matrices of DFIG with VSG control in synchronous dq-
dq-frame.
frame.
Therefore, the stator current can be expressed as:
Therefore, the stator current can be expressed as:
UU =
sdq
sdq  Z−Z dq Isdq
dq I sdq
(41)
(41)
Gur_ir Gir_ur + Gur_ir Gir_is Gis_ur − E
ZdqZ = Gur _ ir Gir _ ur  Gur _ ir Gir _ is Gis _ ur  E (42)
dq Gus_is + Gus_ir Gir_is + Gus_ur Gur_ir Gir_is (42)
G G G
us _ is G
us _ ir ir _ isG G us _ ur ur _ ir ir _ is

where the E is the identity matrix. Zdq (s) is the dq-frame impedance model, which is used to reveal the
mathematical relations between the models in the dq-domain.
A general dq-frame impedance matrix Zdq (s) is expressed as:
" #
Zdd (s) Zdq (s)
Zdq (s) = (43)
Zqd (s) Zqq (s)

Since the dq-domain impedance model cannot be directly used in the practical situation,
the αβ-domain or the sequence-domain model should be obtained. Based on the unifying approach
in [22], the sequence-domain model in stationary frame can be expressed as:
 
 Z+dq (s − jω1 ) Z−dq (s − jω1 ) 
Z± (s) =  ∗ (44)
Z∗+dq (s − jω1 ) 

Z−dq (s − jω1 )

Zdd (s)+Zqq (s) Zqd (s)−Zdq (s)

Z+dq (s) = 2 +j 2
Zdd (s)−Zqq (s) Zqd (s)+Zdq (s) (45)
Z−dq (s) = 2 + j 2
  Z  dq ( s  j1 ) Z * dq ( s  j1 ) 
 *

Z dd ( s)  Z qq ( s) Z qd ( s)  Z dq ( s)
Z + dq  s   j
2 2
(45)
Z dd ( s)  Z qq ( s) Z qd ( s)+Z dq ( s)
Energies 2020, 13, 1582 Z  dq  s   j 9 of 17
2 2

where the subscript ± means the positive-sequence and negative sequence components of impedance
where the subscript ± means the positive-sequence and negative sequence components of impedance
and the superscript * means the complex conjugate of the transfer functions.
and the superscript * means the complex conjugate of the transfer functions.
4.
4. Impedance
Impedance Validation
Validation and
and SSR
SSR Analysis
Analysis
In this section,
In this section,the
the proposed
proposed sequence
sequence impedance
impedance modelmodel
of VSGofcontrol
VSG control
for DFIGfor DFIG
will will be
be validated.
validated. Then, based on the impedance model, the SSR analysis of VSG
Then, based on the impedance model, the SSR analysis of VSG control for DFIG interconnected control for DFIG
interconnected with series compensation
with series compensation is presented. isThe
presented. The simulation
simulation study is implemented
study is implemented to verify to verify
the SSR
the SSR analysis; several conclusions can be obtained from the impedance analysis.
analysis; several conclusions can be obtained from the impedance analysis. Finally, the influence Finally, the
influence
of VSG parameters on impedance is illustrated in detail. The parameters configuration of VSGof
of VSG parameters on impedance is illustrated in detail. The parameters configuration is
VSG is also discussed.
also discussed.

4.1.
4.1. Impedance
Impedance Validation
Validation
To
To verify
verify the correctness of
the correctness the impedance
of the impedance modeling
modeling in in Section
Section 3,
3, aa corresponding
corresponding simulation
simulation
model
model based on Simulink is built. The parameters of DFIG and VSG control for
based on Simulink is built. The parameters of DFIG and VSG control for simulation
simulation areare listed
listed
in
in the
the Appendix
Appendix A A Table
Table A1;
A1; the
the DFIG
DFIG isis connected
connected toto an
an ideal
ideal grid,
grid, for
for the
the sake
sake ofof excluding
excluding the the
influence from the grid impedance. The results of impedance model and simulation
influence from the grid impedance. The results of impedance model and simulation are given in the are given in the
case
case of
of 0.7
0.7 pu
pu rotor
rotor speed.
speed.
Figure
Figure 66 shows
shows the
the model
model validation
validation results
results of
of impedance
impedance in in (44)
(44) and
and simulation
simulation frequency
frequency
scanning. As can be seen, the asterisks are all located in the solid lines. It verifies that the impedance
scanning. As can be seen, the asterisks are all located in the solid lines. It verifies that the impedance
model
model inin (44)
(44) is
is accurate
accurate in
in describing
describing the
the impedance
impedance characteristics
characteristics of
of VSG
VSG control
control for DFIG.
for DFIG.

20
0
Mag(dB)

-20
-40
-60 30Hz
Phase(deg)

100
0 187°

-100

10 100 1000
Frequency(Hz)

Figure 6. Model validation by frequency scanning, the lines are calculated by the impedance matrix
Figure 6. Model validation by frequency scanning, the lines are calculated by the impedance matrix
(44), the asterisks are obtained by simulation results. Red and blue lines are positive and negative
(44), the asterisks are obtained by simulation results. Red and blue lines are positive and negative
impedance, respectively. The black line is the impedance of network at 50% compensation level.
impedance, respectively. The black line is the impedance of network at 50% compensation level.
Since VSG control emulates the operating principle of SG, the impedance of DFIG under VSG
is similar with the output impedance of SG [25]. The sequence impedance model of VSG control for
DFIG is basically inductive. As can be seen from phase curve, the influence of VSG control can be
found mainly around 50 Hz.

4.2. SSR Analysis

To analyze the SSR stability of VSG control for DFIG, a simulation case study of weak grid with
series compensation net is introduced first. The simulation study system is derived from IEEE first
benchmark model [15,16,23]; its schematic diagram is shown in Figure 7. The DFIG-based wind farm is
a 100 MW aggregated equivalent system, which is aggregated from 50 2-MW DFIGs in the Appendix A
Table A1. The transformer is 690 V/161 kV. The main parameters of the network system are given in
the Appendix A Table A2.
 ToToanalyze
analyzethe theSSR
SSRstability
stabilityofofVSG
VSGcontrol
controlfor
forDFIG,
DFIG,aasimulation
simulationcase
casestudy
studyofofweak
weakgrid
gridwith
with
series compensation net is introduced first. The simulation study system is derived
series compensation net is introduced first. The simulation study system is derived from IEEE first from IEEE first
benchmark
benchmarkmodel model[15,16,23];
[15,16,23];its
itsschematic
schematicdiagram
diagramisisshown
shownininFigure
Figure7.7.The
TheDFIG-based
DFIG-basedwindwindfarmfarm
isis aa 100
100 MW
MW aggregated
aggregated equivalent
equivalent system,
system, which
which isis aggregated
aggregated from
from 5050 2-MW
2-MW DFIGs
DFIGs inin the
the
Appendix
Energies A
2020, Tables
13, 1582 A1. The transformer is 690 V/161 kV. The main parameters of
Appendix A Tables A1. The transformer is 690 V/161 kV. The main parameters of the network systemthe network system
10 of 17
are
aregiven
givenininthetheAppendix
AppendixAATablesTablesA2.A2.

690V
690V 161kV
161kV XX
L L XX
CC

DFIG
DFIG Grid
Grid

Figure 7.7.Diagram
Figure7.
Figure Diagramof
Diagram ofaaaDFIG-based
of DFIG-basedwind
DFIG-based windfarm
wind farmconnecting
farm connectingthe
connecting thegrid
the gridwith
grid withaaaseries-compensated
with series-compensated
series-compensated
transmission
transmissionline.
line.
transmission line.

The
Thecompensation
compensationlevel
levelcan
canbe
bedefined
definedasas[12]:
[12]:
XXCX
K= 100%
CC
KK 100%
× 100% (46)
(46)
(46)
XXLX
L L

where
whereX
where XXL Lisisthe
theinductive
inductivereactance
reactanceofofthe thenetwork
networkincluding
includingtransmission
transmissionline
L is the inductive reactance of the network including transmission line and transformer, XC is
lineand
andtransformer,
transformer,XXC C
is
thethe
is thecapacitive
capacitive
capacitive reactance
reactance
reactance in the
in the
in the transmission
transmission
transmission line.
line.line.
Based
Based on
on the
the impedance
impedance theory,
theory,
Based on the impedance theory, instability happens instability
instability happens
happenswhen whenthe
when theimpedance
the impedanceratio
impedance ratiocurve
ratio curveencircles
curve encircles
encircles
(−1,0).
(−1,0). Therefore,
Therefore, bode
bode plots
plots can
can bebe used
used toto analyze
analyze resonance
resonance
(−1,0). Therefore, bode plots can be used to analyze resonance stability [23,25]. When the compensation stability
stability [23,25].
[23,25]. When
When the
the
compensation
level is 50%, thelevel
compensation level isis50%,
impedance 50%, the
theimpedance
curve impedance
of curve
curveofofseries
series compensation seriescompensation
is shown asnetwork
compensation
network the blackisisline
network shown
shown asasthe
in Figure the
6.
black
black line
line inin Figure
Figure 6.6.As
As can
can bebe seen,
seen, there
there isisa amagnitude
magnitude curve
curve
As can be seen, there is a magnitude curve intersection at 30 Hz; the phase difference is 187 (more intersection
intersection at
at30
30 Hz;
Hz; the
the
◦ phase
phase
difference
difference
than 180◦ is isisunstable),
187°
187°(more(more than
than180°
which 180°isisunstable),
indicates unstable),
that therewhichis anindicates
which indicates that
thatthere
SSR instability there isisan
in the anSSR
SSRinstability
instability
situation; ininthe
the resonantthe
situation;
situation;the
frequency the
is 30resonant
resonant
Hz. frequency
frequencyisis30 30Hz. Hz.
Figure
Figure888shows
Figure shows
showsthe the bode
thebode plots
bodeplots
plotsofofofthe
the impedance
theimpedance
impedancemodel model developed
modeldeveloped
developedin inin[23].
[23].
[23].Compared
Comparedwith
Compared withthe
with the
the
proposed
proposedmodel
proposed model in
modelininthis this paper,
thispaper, only
paper,only the
onlythe current
thecurrent control
currentcontrol is considered
controlisisconsidered
consideredin in the
inthe impedance
theimpedance
impedancemodel model in
model in [23].
in [23].
[23].
VSG
VSG control
control loops
loops and
and frame
frame transformation
transformation
VSG control loops and frame transformation are neglected. are
are neglected.
neglected.

2020
00
Mag(dB)
Mag(dB)

-20
-20
-40
-40
27Hz
27Hz
-60
-60
Phase(deg)
Phase(deg)

100
100
194°
194°
00
-100
-100
1010 100
100 1000
1000
Frequency(Hz)
Frequency(Hz)

Figure 8. Bode diagram. Red line is the impedance in [23]. The black line is network impedance.
Figure
Figure8.8.Bode
Bodediagram.
diagram.Red
Redline
lineisisthe
theimpedance
impedanceinin[23].
[23].The
Theblack
blackline
lineisisnetwork
networkimpedance.
impedance.
As can be seen from Figure 8, when the compensation level is 50%, there is a curve intersection at
As can be seen
seenfrom Figure
Figureis8,8,194
when the compensation level is 50%, there
thereisisathat
acurve intersection
27 HzAs andcan bephase
the from
difference when theimpedance
◦ . The compensation level
model in is 50%,
[23] indicates curve
thereintersection
is an SSR
atat27
27Hz
Hz and
and the
thephase
phase difference
difference isis194°.
194°. The
The impedance
impedance model
model inin[23]
[23] indicates
indicates that
thatthere
there isisan
anSSR
SSR
instability in the situation; the resonant frequency is 27 Hz.
instability
instability in the
in thesituation; the resonant frequency is 27 Hz.
To verify thesituation; the resonant
SSR analysis, frequency
a simulation is 27
model is Hz.
built in Matlab/Simulink. The simulation
initially operates at 25% compensation level. Then, at t = 1 sec, additional capacitors are switched in,
which imitates the transmission line fault and makes the compensation level reach 50%. Figure 9 shows
the stator current of DFIG under VSG control; the fast fourier transform (FFT) analysis result of currents is
given in Figure 10. As can be seen, SSR occurs at the resonant frequency 30 Hz. Therefore, the following
conclusions can be obtained:

1. The DFIG with VSG control also has the SSR problem, when the weak grid reaches a high
compensation level.
2. The correctness of proposed impedance model is validated based on the frequency scanning and
SSR prediction.
 of currents
Therefore, theisfollowing
given in conclusions
Figure 10. As
cancan be seen, SSR occurs at the resonant frequency 30 Hz.
be obtained:
Therefore, the following conclusions can be obtained:
1. The DFIG with VSG control also has the SSR problem, when the weak grid reaches a high
1. compensation
The DFIG with VSG control also has the SSR problem, when the weak grid reaches a high
level.
2. The compensation
correctness level.
of proposed impedance model is validated based on the frequency scanning and
Energies 2020, 13, 1582 11 of 17
2. SSRTheprediction.
correctness of proposed impedance model is validated based on the frequency scanning and
SSR prediction.
3. Compared with the impedance model only considering current control, the proposed
3.
3. Compared
impedance
Compared with withthe
model isthe
moreimpedance
accurate,
impedance model
which
model only considering
indicates
only that VSG
considering current
control
current control,
hasthe
control, an the impedance
important
proposed proposed
influence
impedance
on the SSR.
model model
is more is more
accurate, accurate,
which which
indicates indicates
that that VSG
VSG control has control has aninfluence
an important important oninfluence
the SSR.
on the SSR.

Figure 9. Waveform of stator currents, at the 50% series-compensation level.

Figure
Figure 9. Waveform of
9. Waveform of stator
stator currents,
currents, at
at the
the 50%
50% series-compensation
series-compensation level.
level.

Figure 10. Fast Fourier transform (FFT) analysis of stator currents, at 50% series-compensation level.
Figure 10. Fast Fourier transform (FFT) analysis of stator currents, at 50% series-compensation level.
4.3. Influence
Figure 10.and Configuration
Fast of VSG
Fourier transform Control
(FFT) Parameters
analysis of stator currents, at 50% series-compensation level.
4.3. Influence and Configuration of VSG Control Parameters
The inertia and damping are the key parameters in VSG control. Based on the SSR analysis above,
4.3. Influence and Configuration of VSG Control Parameters
VSGThe inertia
control plays and
an damping
important are rolethe keystability.
in SSR parameters in VSG
Therefore, thecontrol.
influence Based on control
of VSG the SSR analysis
parameters
above, The
VSG
is introducedinertia
control and damping
plays
in this are the role
an important
section. key in
parameters in VSG
SSR stability. control.
Therefore, theBased on the
influence SSR analysis
of VSG control
above,
parameters VSG is control plays
introduced in an important
this section. role in SSR stability. Therefore, the
Figure 11 shows the bode plots of impedance with different inertia of active power control.influence of VSG control
parameters
The Figure 11is shows
introduced
three impedance the in this
bode
curves section.
plots
almost ofoverlap
impedanceeachwith different
other. As caninertia
be seen, of the
active power
inertia control.
of active The
power
three Figure
impedance 11 shows
curvesthe bode
almost plots
overlap of impedance
each other. with
As candifferent
be seen, inertia
the of
inertia active
of
control has little influence on impedance. Thus, inertia of active power cannot be used to mitigate power
active control.
power The
control
Energies 2020, 13, x FOR PEER REVIEW 12 of 17
three
has
the impedance
little
SSR. influencecurves almost overlap
on impedance. each other.
Thus, inertia As can
of active be seen,
power cannotthebe
inertia
usedof toactive power
mitigate control
the SSR.
has little influence on impedance. Thus, inertia of active power cannot be used to mitigate the SSR.
20
0
Mag(dB)

-20
-40
-60
Phase(deg)

100
0.5 JP0
0 JP0
1.5 JP0
-100
10 100 1000
Frequency(Hz)

Figure 11. Bode diagram of different inertia of active power. Red line: 0.5 JP0 ; green dash line: JP0 ;
Figure 11. Bode diagram of different inertia of active power. Red line: 0.5 JP0; green dash line: JP0; blue
blue dash line: 1.5 JP0 .
dash line: 1.5 JP0.
Figure 12 shows the bode plots of impedance with different damping of active power control.
Figure
As can 12 shows
be seen, the bode
the phase plots when
decreases of impedance with different
the damping damping
of active power of active
control powerItcontrol.
increases. means
As can be seen, the phase decreases when the damping of active power control increases.
that the phase difference of DFIG and network decreases, which will decrease the possibility It means
of SSR.
that the phase
However, the difference
damping of ofactive
DFIG power
and network
controldecreases, which
is associated will
with decrease
primary the possibility
frequency control of SSR.
[26,27],
However, the damping of active power control is associated with primary frequency control [26,27],
which configuration is limited according to grid code. Moreover, with the value increasing
continuously, the phase variation is small.

20
0
)
 Figure 11.
Figure 11. Bode
Bode diagram
diagram of
of different
different inertia
inertia of
of active
active power.
power. Red
Red line:
line: 0.5
0.5 JJP0
P0; green dash line: JP0; blue
; green dash line: JP0; blue
dash line: 1.5 J P0.
dash line: 1.5 JP0.

Figure 12
Figure 12 shows
shows thethe bode
bode plots
plots of
of impedance
impedance withwith different
different damping
damping ofof active
active power
power control.
control.
As can
As can2020,
Energies be seen,
be seen, the phase
the
13, 1582 phase decreases
decreases when
when the
the damping
damping of of active
active power
power control
control increases.
increases. It
It means
means
12 of 17
that the phase difference of DFIG and network decreases, which will decrease the possibility
that the phase difference of DFIG and network decreases, which will decrease the possibility of SSR. of SSR.
However, the
However, the damping
damping of of active
active power
power control
control is
is associated
associated with
with primary
primary frequency
frequency control
control [26,27],
[26,27],
which
which configuration
configuration is limited
is according
limited to gridtocode.
according gridMoreover,
code. with the value
Moreover, with increasing
the continuously,
value increasing
which configuration is limited according to grid code. Moreover, with the value increasing
the phase variation
continuously, is small.
the phase
phase variation is
is small.
small.
continuously, the variation

20
20
00

Mag(dB)
Mag(dB)
-20
-20 120
120
-40
-40 110
110
-60
-60 100
100
25 30 35
Phase(deg)

100 25 30 35
Phase(deg)

100

00
-100
-100
10
10 100
100 1000
1000
Frequency(Hz)
Frequency(Hz)

Figure 12.
Figure 12. Bode
Bode diagram
Bodediagram of
diagramof different
ofdifferent damping
differentdamping ofofactive
dampingof active power.
active Red
power.
power. Red
Red line: 0.50.5
line:
line: 0.5 DP0
D ;; green
P0D green line:line:
P0 ; green
line: DDP0
P0; Dblue
P0 ;
; blue
line: 1.5
blue 1.5
line: D
line: P0.
1.5 DP0.
DP0.

Figure13
Figure
Figure 13shows
13 showsthe
shows thebode
the bodeplots
bode plots
plots of
ofof impedance
impedance
impedance with
with different
different
with inertia
inertia
different of reactive
reactive
of reactive
inertia of power
power control.
control.
power As
As can
control. As
canseen,
be
can be seen,
be seen, with
withwith the inertia
the inertia
the inertia changing,
changing, the phase
changing, the phase
the phase varies without
varies varies
withoutwithout
obvious obvious regularity.
regularity.
obvious Therefore,
Therefore,
regularity. the
the inertia
Therefore, the
inertia
of of
reactive reactive
power power
is not is not
suitablesuitable
for for
mitigatingmitigating
SSR.
inertia of reactive power is not suitable for mitigating SSR. SSR.

20
20
00
Mag(dB)
Mag(dB)

-20
-20 110
110
-40
-40 100
100
-60
-60 90
90
25 30 35
25 30 35
Phase(deg)

100
Phase(deg)

100

00
-100
-100
10
10 100
100 1000
1000
Frequency(Hz)
Frequency(Hz)

Figure 13.
Figure 13. Bode
Bode diagram
Bodediagram of
diagramof different
ofdifferent inertia
differentinertia ofofreactive
inertiaof reactive power.
reactivepower. Red
power.Red line:
line:
Red 0.50.5
0.5
line: JJQ0
Q0; green line: JQ0; blue
;Jgreen line:line:
JQ0; blue
JQ0 ;
Q0 ; green
line: 1.5
blue 1.5
line: line:J Q0.
. JQ0 .
JQ01.5

Figure 14
Figure
Figure 14 shows
shows
showsthe the bode
thebode plots
bodeplots ofofimpedance
plotsof impedance
impedance with
with
with different
different
different damping
damping
damping of reactive
of reactive
of power
reactive DQQ..D
power
power D As
Q.
As
can can
As
can be seen,
be seen, as D
be seen,
as DQQDincreases,
as increases, thethe
Q increases,
the phase
phase
phase decreases significantly.
decreasessignificantly.
decreases ItItindicates
significantly.It indicates that
indicatesthat the
thatthe damping of
the damping of
of
reactive power has the ability to mitigate the SSR. When the damping of reactive power increase more
than 1.5 DQ0 , the phase difference is less than 180 degree, which means that the small SSR disturbance
is stable. And it should be noted that phase variation is small when DQ increases continuously.
Moreover, with the DQ increasing, the magnitude of impedance intersection decreases, which may
slow down the recovery of SSR. With the consideration of phase margin and impedance magnitude,
2 DQ0 is a proper value to mitigates the SSR. The zoom figure is shown in Figure 15.
reactive
than 1.5 power
DQ0, thehas the ability
phase to mitigate
difference the SSR.
is less than When the
180 degree, damping
which meansofthat
reactive power
the small increase
SSR more
disturbance
than 1.5 DAnd
is stable. Q0, theitphase difference
should be noted is less
that than 180variation
phase degree, which means
is small whenthatDthe small SSR
Q increases disturbance
continuously.
is stable. And
Moreover, withittheshould be noted that
DQ increasing, phase variation
the magnitude is small intersection
of impedance when DQ increases continuously.
decreases, which may
Moreover, with the D increasing, the magnitude of impedance intersection decreases,
slow down the recovery of SSR. With the consideration of phase margin and impedance magnitude,
Q which may
slow
DQ0down
2Energies
is2020, the recovery
a proper value toofmitigates
SSR. With thethe consideration
SSR. of phase
The zoom figure margin
is shown inand impedance
Figure 15. magnitude,
13, 1582 13 of 17
2 DQ0 is a proper value to mitigates the SSR. The zoom figure is shown in Figure 15.

20
0

Mag(dB)
20
0
-20

Mag(dB)
110
-20
-40 100
110
-60
-40 100
90
-60 25 30 35
90

Phase(deg)
100
25 30 35

Phase(deg)
100
0
0
-100
-10010 100 1000
10 Frequency(Hz)
100 1000
Frequency(Hz)
Figure 14. Bode diagram of different damping of reactive power. Red line: DQ0; green line: 1.5 DQ0;
Figure
Figure
blue 14.2Bode
14.
line: Bode diagram
line: of
diagram
DQ0; pink of
4D different
different
Q0.
damping
damping of
of reactive
reactivepower.
power.Red line:DDQ0
Redline: ; green line: 1.5 D Q0;;
Q0; green line: 1.5 DQ0
blue line: 2 D
blue line: 2 DQ0
Q0 ; pink line: 4 D
; pink line: 4 DQ0Q0. .

-31
Mag(dB)

-32
-31
Phase(deg) Mag(dB)

-33
-32
-34
-33
-34
110
110
Phase(deg)

100
100
90
90 29 30 31 32 33
29 30 Frequency(Hz)
31 32 33
Frequency(Hz)
Figure 15. Zoom Bode diagram of different damping of reactive power.
Figure 15. Zoom Bode diagram of different damping of reactive power.
Figure 15. Zoom Bode diagram of different damping of reactive power.
Table 1 shows the summary of the influence of VSG control parameters. As can be seen,
Table 1 shows
the damping factor the summary
of reactive of the
power DQinfluence of for
is suitable VSG control parameters.
mitigating As can beresonance
the sub-synchronous seen, the
Tablefactor
damping 1 shows
of the summary
reactive power ofQ is
D thesuitable
influence
for of VSG control
mitigating the parameters. As can
sub-synchronous be seen,
resonance the
(SSR);
(SSR); the value should be set to 2 DQ0 .
damping
the value factor
shouldofbereactive
set to 2power
DQ0. DQ is suitable for mitigating the sub-synchronous resonance (SSR);
the value should be set to 2 D Q0.
Table 1. Influence of VSG Parameters Increasing.
Table 1. Influence of VSG Parameters Increasing.
Inertia of Active Table Damping
1. Influence
ofof VSG Parameters Increasing.
Inertia of Reactive Damping of
InertiaPower
of Active Damping
Active Powerof InertiaPower
of Reactive Damping
Reactive of
Power
Inertia of Active
Power Damping
Active of
Power InertiaPower
of Reactive Damping
Reactive of
Power
Phase decreases.
Power
Has little influence on Active
Phase Power
decreases.
But limited by the
Power
Phase varies without Reactive Power
Phase decreases.
Has little influence
impedance. Phase varies
obvious without
regularity.
Phase
Butgriddecreases.
limited
code.by Phase decreases.
Hasonlittle influence
impedance. Phase
obviousvaries without
regularity. √
× But limited
the grid by
× code. Phase decreases.
on impedance. obvious ×regularity.
× the grid
× code.
× √
× × × √
5. Simulation Results
5. Simulation Results
To validate
5. Simulation the correctness and effectiveness of the proposed impedance model and parameters
Results
To validate the correctness
configuration method, and effectiveness
the simulation of theinproposed
results are given impedance
this section. model and
The simulation parameters
situation is the
To validate
configuration the correctness and effectiveness of the proposed impedance model and parameters
same as Figuremethod, the simulation
9 in Section 4.2. At the results areseries
1 sec, the givencompensation
in this section.level
The increases
simulation situation
from 25% tois50%.
the
configuration
sameFigure
as Figure method,
9 in the simulation
Section 4.2. At the results
1 sec, areseries
the givencompensation
in this section. Theincreases
level simulation
fromsituation
25% tois50%.
the
16 shows the results of stator currents with different damping factor DQ . As can be seen,
same as Figure 9 in Section 4.2. At the 1 sec, the series compensation level increases from 25% to 50%.
at the 1 s, there is the SSR disturbance caused by series compensation changing. Compared with
Figure 9, the SSR disturbance in Figure 16 is mitigated well. When the DQ . increases more than 1.5 DQ0 ,
the phase difference is less than 180◦ , which means that the SSR disturbance is stable and validates the
correctness of the SSR analysis in Section 4.3. According to the FFT analysis, when DQ . increases to
1.5 DQ0 , 2 DQ0 and 4 DQ0 , the resonant frequency is 30.5 Hz, 31 Hz and 32 Hz, respectively. The FFT
results also coincide with the SSR analysis in Figure 15.
The FFT results also coincide with the SSR analysis in Figure 15.
Figure 9, the SSR disturbance in Figure 16 is mitigated well. When the DQ. increases more than 1.5
DQ0, the phase difference is less than 180°, which means that the SSR disturbance is stable and
validates the correctness of the SSR analysis in Section 4.3. According to the FFT analysis, when DQ.
increases to 1.5 DQ0, 2 DQ0and 4 DQ0, the resonant frequency is 30.5 Hz, 31 Hz and 32 Hz, respectively.
Energies 2020, 13, 1582 14 of 17
The FFT results also coincide with the SSR analysis in Figure 15.

Figure 16. Waveform of stator currents.

Figure 16. Waveform of stator currents.
Figure 17 shows the simulation results
Figure of electromagnetic
16. Waveform torque; the enlarged figure of Figure
of stator currents.
Figure 17 shows the simulation results of electromagnetic
17 is given in Figure 18. Compared with the conditions of 1.5 DQ0 and torque; the4 enlarged
DQ0, the figure of Figure
attenuation of 17
torque
is given in
Figure Figure
17 18.
shows Compared
the with
simulation the conditions
results of of 1.5 D
electromagnetic Q0 and 4
torque; D the
Q0 , the attenuation
enlarged
with 2 DQ0 is faster. To illustrate the results more intuitively, the damping time is defined as the length figure of
oftorque
Figure
with
17 is DQ0 in
2given is Figure
faster. 18.
To Compared
illustrate the withresults more intuitively,
the conditions the
of 1.5 Dinto
Q0 anddamping
4 Dpu
Q0, thetime is defined
attenuation of as the
torque
of time that the disturbance in electromagnetic torque damps 0.05 (dashed lines in Figures 17
length of time that the disturbance in electromagnetic torque damps into 0.05 pu
with 2 DQ0 is faster. To illustrate the results more intuitively, the damping time is defined as the length (dashed lines in
and 18). The damping time of different parameter’s value is given in the Table 2. When the parameter
Figures
of time 17 thatandthe18). The damping
disturbance time of different
in electromagnetic parameter’s
torque damps value is given
into 0.05 in the Table
pu (dashed lines 2.
in When
Figuresthe17
is 2 D Q0, the damping time is less than 0.5 s. By contrast, the damping time is more than 0.8 s, when
parameter DQ0 , thetime
is 2damping damping time isparameter’s
less than 0.5 s. Byiscontrast, the Table
damping timetheis more than
and 18). The of different value given in the 2. When parameter
the parameter
0.8
is 2s,Dwhen isdamping
Q0, the the
1.5 DQ0time
andis
parameter is41.5
DD
less Q0. The simulation results verify the effectiveness of parameter
Q0 and
than 0.5 4s. D
By . The simulation
Q0contrast, the dampingresults
timeverify the than
is more effectiveness of
0.8 s, when
configuration
parameter
the parameter method.
configuration
is 1.5 DQ0method.
and 4 DQ0. The simulation results verify the effectiveness of parameter
configuration method.
-0.3
-0.3
Torque (pu)

-0.5
Torque (pu)

-0.5
1.5DQ0
-0.7 1.5D
2DQ0Q0
-0.7 2D4D
Q0 Q0
4DQ0
1 1.5 2
1 1.5
Time(s) 2
Time(s)

Figure17.
Figure Waveform of
17.Waveform electromagnetic torque.
Figure 17. Waveformofof electromagnetic torque.
electromagnetic torque.
Energies 2020, 13, 1582 15 of 17
Energies 2020, 13, x FOR PEER REVIEW 15 of 17

Torque (pu)
-0.45

-0.55

1.5DQ0 2DQ0 4DQ0

1.5 1.6 1.7 1.8

Time(s)

Figure 18. Enlarged waveform of electromagnetic torque.

Figure 18. Enlarged waveform of electromagnetic torque.
Table 2. SSR damping time.
Table 2. SSR damping time.
Damping of reactive power 1.5 DQ0 2 DQ0 4 DQ0
Damping of reactive power 1.5 DQ0 2 DQ0 4 DQ0
Damping time >0.8 s <0.5 s >0.8 s
Damping time > 0.8 s < 0.5 s > 0.8 s

6.5.Conclusions
Conclusions
This
Thispaper
paperanalyzes
analyzesthetheSSR
SSRstability
stabilityofofDFIG
DFIGunder
underVSG VSGcontrol
controlbased
basedon onimpedance
impedance method.
method.
Accurate
Accurate impedance model of DFIG under VSG control, which considers DFIGswing
impedance model of DFIG under VSG control, which considers DFIG model, model,equation,
swing
voltage-reactive power control
equation, voltage-reactive loop,
power frameloop,
control transformation and rotor voltage
frame transformation calculation,
and rotor is developed.is
voltage calculation,
Itdeveloped.
can be found thatbeDFIG
It can foundwith
thatVSG
DFIGcontrol
with also
VSGhas the SSR
control alsoproblem,
has the SSRwhen the weak
problem, gridthe
when reaches
weak
agrid
highreaches
series-compensation level. The simulation results of stator current and FFT result
a high series-compensation level. The simulation results of stator current and FFT result coincide the
impedance
coincide the impedance model analysis well, which indicates that the impedance modeling is to
model analysis well, which indicates that the impedance modeling is an effective way an
analyze the
effective SSRtoin
way DFIG under
analyze the SSR VSG control.
in DFIG TheVSG
under influence of VSG
control. control parameters
The influence on SSR
of VSG control stability
parameters
ison
also
SSRanalyzed.
stability Based
is alsoon the impedance
analyzed. Based on analysis, the damping
the impedance factorthe
analysis, of damping
reactive power
factor isofsuitable
reactive
for mitigating SSR. With the damping of reactive power increasing, the phase
power is suitable for mitigating SSR. With the damping of reactive power increasing, the phase difference between
DFIG and network
difference betweendecreases,
DFIG andwhich
network means that the
decreases, damping
which means of that
reactive power can
the damping ofbe designed
reactive powerto
mitigate SSR disturbance. Simulation results validate the correctness and effectiveness
can be designed to mitigate SSR disturbance. Simulation results validate the correctness and of the proposed
impedance model
effectiveness andproposed
of the parameters configuration
impedance modelmethod. The robustconfiguration
and parameters control to damp SSR disturbance
method. The robust
ofcontrol
DFIG under
to damp SSR disturbance of DFIG under VSG control will be investigatedfuture.
VSG control will be investigated based on the impedance model in the based on the
impedance
Author model inConceptualization,
Contributions: the future. Y.J., H.N.; methodology, Y.J., H.N.; software, Y.J., H.N.; validation, Y.J.,
H.N.; formal analysis, Y.J., H.N.; investigation, Y.J., H.N.; writing—original draft preparation, Y.J.; writing—review
and editing, Y.J., H.N.; visualization, Y.J., H.N.; supervision, F.L., H.D.; project administration, F.L., H.D.; funding
AppendixF.L.,
acquisition, A H.D. All authors have read and agreed to the published version of the manuscript.
Funding: This paper was supported by the National Natural Science Foundation of China under Grant 51977194.
Table A1. Parameters of DFIG and VSG Control.
Conflicts of Interest: The authors declare no conflict of interest.
Parameters Value
Rated power 2 MVA
Rated voltage 690 V
Rated frequency 50 Hz
Stator/Rotor ratio 0.34
Mutual inductance (p.u.) 3.90
Stator leakage inductance (p.u.) 0.171
Rotor leakage inductance (p.u.) 0.167
Stator resistance (p.u.) 0.0127
Rotor resistance (p.u.) 0.0127
DC voltage 1200 V
Inertia of active power JP0 100
Damping of active power DP0 318310(50 × 2 × 10^6/(100π))
Inertia of reactive power JQ0 100
Damping of reactive power DQ0 17750(5 × 2 × 10^6/( × 690))
Flux control coefficient kP, kI 1, 10
Energies 2020, 13, 1582 16 of 17

Appendix A

Table A1. Parameters of DFIG and VSG Control.

Parameters Value
Rated power 2 MVA
Rated voltage 690 V
Rated frequency 50 Hz
Stator/Rotor ratio 0.34
Mutual inductance (p.u.) 3.90
Stator leakage inductance (p.u.) 0.171
Rotor leakage inductance (p.u.) 0.167
Stator resistance (p.u.) 0.0127
Rotor resistance (p.u.) 0.0127
DC voltage 1200 V
Inertia of active power JP0 100
Damping of active power DP0 318310(50 × 2 × 10ˆ 6/(100π))
Inertia of reactive power JQ0 100
√
Damping of reactive power DQ0 17750(5 × 2 × 10ˆ 6/( 2/3 × 690))
Flux control coefficient kP , kI 1, 10

Table A2. Parameters of Network System.

Parameters Value
Transformer ratio 690 V/161 KV
Rated power 100 MVA
Line resistance 0.02 pu
Line inductance 0.5 pu
Line capacitive reactance at 50%
64.8 Ω
compensation level

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